# Online Training –Photogrammetric Computer Vision

## This is the Photogrammetric Computer Vision Block of the online training covering Mobile Robotics and Photogrammetric Computer Vision.

Online Lectures: Basics for Robotics & Photogrammetric Computer Vision (Cyrill Stachniss, 2020)

#### Online Lectures: Basics for Robotics & Photogrammetric Computer Vision (Cyrill Stachniss, 2020)

Online Lectures covering the Basics of Robotics & Photogrammetric Computer Vision
Cyrill Stachniss, 2020

# Essentials (before you start)

Online Training: Basics Block - Welcome (Cyrill Stachniss, 2020)

#### Online Training: Basics Block – Welcome (Cyrill Stachniss, 2020)

A short welcome to the Basics Block of the Online Training
Cyrill Stachniss, Fall 2020

Suggested Linear Algebra Courses:
1. Essence of linear algebra by 3Blue1Brown:
2. Linear Algebra from MIT Open Courseware:

Probability Primer for Probabilistic Robotics (Cyrill Stachniss, 2020)

#### Probability Primer for Probabilistic Robotics (Cyrill Stachniss, 2020)

Probability Primer for Probabilistic Robotics
Cyrill Stachniss, Summer 2020

3D Coordinates and Representations of Rotations (Cyrill Stachniss, 2020)

#### 3D Coordinates and Representations of Rotations (Cyrill Stachniss, 2020)

Lectures on 3D coordinates and especially the different representations of rotations in the 3D world
Cyrill Stachniss, Summer 2020

Quaternions and 3d rotation, explained interactively

#### Quaternions and 3d rotation, explained interactively

Go experience the explorable videos: https://eater.net/quaternions
Brought to you by you: http://3b1b.co/quaternion-explorable-thanks

Previous video on Quaternions:
https://youtu.be/d4EgbgTm0Bg

Nice explanation of Gimbal Lock:
https://youtu.be/zc8b2Jo7mno

Great videos comparing Euler angles and quaternions, from the perspective of an animator:
https://youtu.be/syQnn_xuB8U
https://youtu.be/4mXL751ko0w

Music by Vincent Rubinetti:
https://vincerubinetti.bandcamp.com/album/the-music-of-3blue1brown

Homogeneous Coordinates - 5 Minutes with Cyrill

#### Homogeneous Coordinates – 5 Minutes with Cyrill

Homogeneous coordinates explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Homogeneous Coordinates (Cyrill Stachniss, 2020)

#### Homogeneous Coordinates (Cyrill Stachniss, 2020)

Lecture on Homogeneous Coordinates
Cyrill Stachniss, Summer 2020

Least Squares - An Informal Introduction (Cyrill Stachniss, 2020)

#### Least Squares – An Informal Introduction (Cyrill Stachniss, 2020)

An Informal Introduction to Least Squares
Cyrill Stachniss, Spring 2020

Online Training: Basics Block - You Did It! (Cyrill Stachniss, 2020)

#### Online Training: Basics Block – You Did It! (Cyrill Stachniss, 2020)

Online Training: Basics Block – You Did It!
Cyrill Stachniss, Fall 2020

# Photogrammatric Computer Vision Block

Online Course: Photogrammetric Computer Vision Block - Course Introduction (Cyrill Stachniss, 2020)

#### Online Course: Photogrammetric Computer Vision Block – Course Introduction (Cyrill Stachniss, 2020)

Photogrammetric Computer Vision Block – Course Introduction
Cyrill Stachniss, 2020

Visual Feature Part 1: Computing Keypoints (Cyrill Stachniss, 2020)

#### Visual Feature Part 1: Computing Keypoints (Cyrill Stachniss, 2020)

Visual Feature Part 1: Computing Keypoints
Cyrill Stachniss, Spring 2020

SIFT - 5 Minutes with Cyrill

#### SIFT – 5 Minutes with Cyrill

SIFT features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Partial image courtesy by Gil Levi and David Lowe
Thanks to Igor Bogoslavskyi and Olga Vysotska
Intro music by The Brothers Records

Binary Features - 5 Minutes with Cyrill

#### Binary Features – 5 Minutes with Cyrill

Binary features explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks to Olga Vysotska and Igor Bogoslakvskyi
Intro music by The Brothers Records

Visual Features Part 2: Features Descriptors (Cyrill Stachniss, 2020)

#### Visual Features Part 2: Features Descriptors (Cyrill Stachniss, 2020)

Visual Features Part 2: Features Descriptors
Cyrill Stachniss, Spring 2020

RANSAC - 5 Minutes with Cyrill

#### RANSAC – 5 Minutes with Cyrill

RANSAC – Random Sample Consensus explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Thanks for Olga Vysotska and Igor Bogoslavskyi for their valuable feedback on the different iteration if the video.
Intro music by The Brothers Records

RANSAC - Random Sample Consensus (Cyrill Stachniss, 2020)

#### RANSAC – Random Sample Consensus (Cyrill Stachniss, 2020)

RANSAC – Random Sample Consensus
Cyrill Stachniss, Spring 2020

Camera Parameters - Extrinsics and Intrinsics (Cyrill Stachniss, 2020)

#### Camera Parameters – Extrinsics and Intrinsics (Cyrill Stachniss, 2020)

Camera Parameters – Extrinsic and Intrinsic Parameters
Cyrill Stachniss, Spring 2020

Direct Linear Transform for Camera Calibration and Localization (Cyrill Stachniss, 2020)

#### Direct Linear Transform for Camera Calibration and Localization (Cyrill Stachniss, 2020)

Direct Linear Transform – Joint Camera Calibration and Localization
Cyrill Stachniss, Spring 2020

Camera Calibration using Zhang's Method (Cyrill Stachniss, 2020)

#### Camera Calibration using Zhang’s Method (Cyrill Stachniss, 2020)

Camera Calibration using Zhang’s Method
Cyrill Stachniss, Spring 2020

Projective 3-Point Algorithm using Grunert's Method (Cyrill Stachniss, 2020)

#### Projective 3-Point Algorithm using Grunert’s Method (Cyrill Stachniss, 2020)

Projective 3-Point Algorithm, also called Spatial Resectioning, using Grunert’s Method of 1841
Cyrill Stachniss, Spring 2020

Fundamental and Essential Matrix - 5 Minutes with Cyrill

#### Fundamental and Essential Matrix – 5 Minutes with Cyrill

Fundamental and essential matrix explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

#### Relative Orientation, Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

Relative Orientation of the Image Pair, Fundamental and Essential Matrix
Cyrill Stachniss, Spring 2020

Epipolar Geometry Basics (Cyrill Stachniss, 2020)

#### Epipolar Geometry Basics (Cyrill Stachniss, 2020)

Epipolar Geometry Basics
Cyrill Stachniss, Spring 202

Direct Solution for Estimating the Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

#### Direct Solution for Estimating the Fundamental and Essential Matrix (Cyrill Stachniss, 2020)

Direct Solution for Estimating the Fundamental and Essential Matrix from Corresponding Points (“8-Point Algorithm”)
Cyrill Stachniss, Spring 2020

Triangulation for Image Pairs (Cyrill Stachniss, 2020)

#### Triangulation for Image Pairs (Cyrill Stachniss, 2020)

Triangulation of 3D Points based on Pairs of Camera Images
Cyrill Stachniss, 2020

Absolute Orientation: Similarity Transformations Between Point Sets (Cyrill Stachniss, 2020)

#### Absolute Orientation: Similarity Transformations Between Point Sets (Cyrill Stachniss, 2020)

Absolute Orientation Problem: Derivation of the Computing Similarity Transformations Between Point Sets
Cyrill Stachniss, Fall 2020

Bundle Adjustment - 5 Minutes with Cyrill

#### Bundle Adjustment – 5 Minutes with Cyrill

Bundle Adjustment explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Cyrill Stachniss, Fall 2020
This is Part 1 on a lecture on Bundle Adjustment, see Part 2 here: http://youtube.com/watch?v=LKDLcKrWOIU

The Numerics of Bundle Adjustment (Cyrill Stachniss, 2020)

#### The Numerics of Bundle Adjustment (Cyrill Stachniss, 2020)

Cyrill Stachniss, Fall 2020
This is Part 2 on a lecture on Bundle Adjustment, see Part 1 here: http://youtube.com/watch?v=sobyKHwgB0Y

SLAM - 5 Minutes with Cyrill

#### SLAM – 5 Minutes with Cyrill

SLAM explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

There is also a set of more detailed lectures on SLAM available:

Or my 2013/14 course on SLAM:

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Introduction to SLAM from a Photogrammetric Perspective (Cyrill Stachniss, 2020)

#### Introduction to SLAM from a Photogrammetric Perspective (Cyrill Stachniss, 2020)

A Brief Introduction to SLAM from a Photogrammetric Perspective
Cyrill Stachniss, Fall 2020

Orthophoto - 5 Minutes with Cyrill

#### Orthophoto – 5 Minutes with Cyrill

Orthophoto explained in 5 minutes
Series: 5 Minutes with Cyrill
Cyrill Stachniss, 2020

Credits:
Video by Cyrill Stachniss
Intro music by The Brothers Records

Orthophotos (Cyrill Stachniss, 2020)

#### Orthophotos (Cyrill Stachniss, 2020)

Orthophotos
Cyrill Stachniss, Fall 2020

Online Training: Photogrammetric Computer Vision - You Did It! (Cyrill Stachniss, 2020)